I had a look at your program on http://www.robotc.net/mantis/view.php?id=234 but it won't compile out of the box. You are using a reserved word as a variable name (rand) in one of your functions. There's a bug that is preventing me from compiling it once that is fixed. It has to do allocating space for local variables. I ran into a similar problem last week. It's been fixed in an internal build, according to Dick.

at this former version of ROBOTC "rand" hasn't been a reserved word.Just change this variable name into another (rd or sth like this) and the code should work

I did But then I bumped into the tmp variable problem. I've been hacking away at your code to try and cut down on the temporary variables but I am not having much luck atm. I managed to get it down from 3 to 2 errors, hehe.

I have it working now, but holy crap man, what the hell am I supposed to do with all this data on the screen? Could you give me some instructions?

I pressed a bunch of buttons and it seems to be beeping every couple of seconds. There are some impressive numbers and figures on the screen but I have freakin idea what they mean. How is anyone supposed to debug this? Not all of us are pharmacist neural network robot scientists.

I think I figured it out. It's self explanatory if you wrote it, sure. All the numbers are a little offputting. Anyway, it's at cycle 900 of 1000 (counting down) and still no errors. I have no idea if what I did was right but it seems to be. It is now happily chirping every couple of seconds.

I now have it compiling without any errors. I have managed to remove a lot of the tmp variables you were using by replacing quite a few constants with defines and other little tricks. It's running again. The last one ran for more than 250 cycles before I stopped it. No errors had occurred. What's it supposed to do?

It got to about 440 but then the NXT shutdown. I've added a call to alive() each time it does a run, so this won't happen again. I had it set to an hour but that wasn't enough, apparently. Anyway, it hadn't crashed within that hour.

(the unexpected shutdown has been reported by me in a different bug tracker report)

EDIT: because of false multiplication by structure float arrays the calculations are faulty, so that's the reason why the error minimazition function doesn't convergent correctly, and often leads to nan's.

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